Squat "lobster", technically a crab, very reef-safe. Won't get large enough to hurt anything short of maybe an amphipod, mostly a scavenger, comes in loads of colors.
Don't put one with a crinoid, they steal the crinoid's food and make it even harder to keep the featherpuff alive. They don't need to host a crinoid to survive, they scavenge and can be fed anything you give the rest of the tank.